Josh ChaoFrancis Fernandes Denny LieJackson Tanis

April 20th 2009

Georgia Institute of TechnologyCollege of EngineeringSchool of Electrical and Computer Engineering

Problems• CompactLogix L43 supports up to 4 axes• CompactLogix L45 supporting up to 8 axes could not be obtainedSolutionNI PCI-7356 Controller was used instead

Core of projectInterfacing PUMA motors with a PC-based controller

• Interface the motor and control systemInterface the motor and control system• Control the motor’s position and speedControl the motor’s position and speed• Provide GUI tracking motor’s movementProvide GUI tracking motor’s movement• Establish groundwork for future ECE Establish groundwork for future ECE projectproject

• Control motor’s movement with loadControl motor’s movement with load• Control multiple axes simultaneouslyControl multiple axes simultaneously

Motor Driver

Controller

Motor

+24V

+5V

Input Command Signal +/-

Motor +/-Supply

Encoder A,B, Index and Pot Signals

ENABLE Input

FAULT Output

Parameter Motor 1-3 Motor 4-6

Rated Current (A) 5.3 1.5

Rated Voltage (V) 40 32

Rated Speed (RPM) 1200 2350

Encoder Slots 250 250

Voltage Constant (V/kRPM)

26.5 10

10 V/kRPM

28 V/kRPM

Controller

MotorMotor Driver

P.S. (+5V)

Trust AutomationTA115

Voltage Mode

(Velocity)

Current Mode

(Torque)

LogicOptoisolation

P.S. (+24V)

Quick Installatio

n

Onboard Processor

Support6-axis

LabViewInterface

Per Axis NI 7356

Encoder 3 3

Analog Input 1 1

Analog Output 1 1

Digital Ports ~2 8

Limit/Home Switches N/A 3

Application Development Environment:NI LabView

Driver Software:NI Motion

Motion Controller:PCI 7356

HardwareInitializatio

n

Fast While Loop:- Output voltage control- Encoder reading- Analog input reading

Slow While Loop (1 loop/sec):- Motor speed calculation

ErrorHandlin

g

Motor Movemen

t

Home Position

Calibration

Parameter Display

When: April 28th at 5:00 pmWhere: Room 113 in Van Leer

• Delay in Parts DeliveryDelay in Parts Delivery• From Rockwell to NIFrom Rockwell to NI• New Cables and Breakout BoardsNew Cables and Breakout Boards• Connector for Motors 1-3Connector for Motors 1-3• Encoder IndexEncoder Index

Item DescriptionRetail Value

Actual Value

Robotic Arm PUMA Robot 560 Series $5,000 FREE150 W Motors (1) Unimation Original Parts $600 $60030 W Motors (1) Unimation Original Parts $350 $350Servo Drives (6) TA115 $4,200 $4,200PLC Controller NI PCI 7356 $2,890 $2,890

Cables (4)68 Pin VHDCI M to MD68 M $220 $220

Breakout Boards (4) 68 Pin F Vertical Breakout $200 $200Desktop Dell GX260 $350 FREE

Miscellaneous

Tools, Wires, Connectors, Switches, Electrical Components $100 FREE

Labor 600 hours x $50 / hour $30,000 FREETotal   $43,910 $8,460

• Wire and Interface all 6 Motors• Change Program to Control all 6 Axis• Add Limit Switches Software Side

• Install Motors into the Robot• Build Closed Loop PID Control System• Program Forward and Inverse Kinematics

TEAMTEAMYELLOW YELLOW PUMAPUMA

TEAMTEAMYELLOW YELLOW PUMAPUMA